It depends on what you mean by critical I guess. comma.ai and OpenPilot uses CAN to perform steering, acceleration and braking (I think). https://github.com/co

It depends on what you mean by critical I guess. comma.ai and OpenPilot uses CAN to perform steering, acceleration and braking (I think). https://github.com/commaai/openpilot/blob/master/selfdrive/car/toyota/toyotacan.py https://github.com/commaai/openpilot/blob/master/selfdrive/c...